sixDoFMotion.C

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License
    This file is part of OpenFOAM.
 
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    under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
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    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
    for more details.
 
    You should have received a copy of the GNU General Public License
    along with OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.
 
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#include "sixDoFMotion.H"
#include "mathematicalConstants.H"
#include "makeFunction1s.H"
#include "makeTableReaders.H"
#include "addToRunTimeSelectionTable.H"
 
using namespace Foam::constant::mathematical;
 
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
 
namespace Foam
{
namespace solidBodyMotionFunctions
{
    defineTypeNameAndDebug(sixDoFMotion, 0);
    addToRunTimeSelectionTable
    (
        solidBodyMotionFunction,
        sixDoFMotion,
        dictionary
    );
}
}
 
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
typedef Foam::solidBodyMotionFunctions::sixDoFMotion::translationRotationVectors
trvType;
 
template<>
const char* const trvType::vsType::typeName = "vector2Vector";
 
template<>
const char* const trvType::vsType::componentNames[] = {"x", "y"};
 
template<>
const trvType trvType::vsType::vsType::zero
(
    trvType::uniform(vector::uniform(0))
);
 
template<>
const trvType trvType::vsType::one(trvType::uniform(vector::uniform(1)));
 
template<>
const trvType trvType::vsType::max(trvType::uniform(vector::uniform(vGreat)));
 
template<>
const trvType trvType::vsType::min(trvType::uniform(vector::uniform(-vGreat)));
 
template<>
const trvType trvType::vsType::rootMax
(
    trvType::uniform(vector::uniform(rootVGreat))
);
 
template<>
const trvType trvType::vsType::rootMin
(
    trvType::uniform(vector::uniform(-rootVGreat))
);
 
template<>
const trvType trvType::vsType::nan(trvType::uniform(vector::uniform(NaN)));
 
namespace Foam
{
    makeFunction1s(trvType, nullArg);
    makeFoamTableReaders(trvType, nullArg);
}
 
 
// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
Foam::solidBodyMotionFunctions::sixDoFMotion::sixDoFMotion
(
    const dictionary& SBMFCoeffs,
    const Time& runTime
)
:
    solidBodyMotionFunction(SBMFCoeffs, runTime)
{
    read(SBMFCoeffs);
}
 
 
// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
 
Foam::solidBodyMotionFunctions::sixDoFMotion::~sixDoFMotion()
{}
 
 
// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
 
Foam::septernion
Foam::solidBodyMotionFunctions::sixDoFMotion::transformation() const
{
    const scalar t = time_.value();
 
    translationRotationVectors TRV = translationRotation_->value(t);
 
    // Convert the rotational motion from deg to rad
    TRV[1] *= pi/180.0;
 
    quaternion R(quaternion::XYZ, TRV[1]);
    septernion TR(septernion(-CofG_ + -TRV[0])*R*septernion(CofG_));
 
    DebugInFunction << "Time = " << t << " transformation: " << TR << endl;
 
    return TR;
}
 
 
bool Foam::solidBodyMotionFunctions::sixDoFMotion::read
(
    const dictionary& SBMFCoeffs
)
{
    solidBodyMotionFunction::read(SBMFCoeffs);
 
    translationRotation_.reset
    (
        Function1<translationRotationVectors>::New
        (
            "translationRotation",
            time_.userUnits(),
            unitNone,
            SBMFCoeffs_
        ).ptr()
    );
 
    SBMFCoeffs_.lookup("CofG") >> CofG_;
 
    return true;
}
 
 
// ************************************************************************* //